CN114577434B

CN114577434B - High-precision six-component balance and method

Info

Publication number: CN114577434B
Application number: CN202210212252.5A
Authority: CN
Inventors: 石荣武; 白新玉; 贺俊; ***; 贾恒信
Original assignee: Avic Testing Instrument Xi'an Co ltd
Current assignee: Avic Testing Instrument Xi'an Co ltd
Priority date: 2022-03-04
Filing date: 2022-03-04
Publication date: 2024-04-02
Anticipated expiration: 2042-03-04
Also published as: CN114577434A

Abstract

The invention discloses a high-precision six-component balance and a method, wherein the high-precision six-component balance comprises an upper end bearing positioning and mounting structure, a lower end bearing positioning and mounting structure and a rectangular upright post; the rectangular upright post comprises a central rectangular upright post and a plurality of edge rectangular upright posts; the central rectangular upright posts are arranged at the central positions of the upper end bearing positioning and mounting structure and the lower end bearing positioning and mounting structure, and the plurality of edge rectangular upright posts are arranged in a central symmetry way by taking the central rectangular upright posts as the centers; and the central rectangular upright post and the plurality of edge rectangular upright posts are respectively provided with a resistance strain gauge, and the resistance strain gauges form a Wheatstone bridge which is respectively used for measuring X-direction component force, Y-direction component force, Z-direction component force, X-direction component force, Y-direction component force and Z-direction component force. Through the structure and the mode, the self-decoupling design is realized, the mutual interference influence of the measured six-component force and moment is small, and the triaxial six-component force and moment applied to a high-precision six-component balance can be accurately measured.

Description

High-precision six-component balance and method

Technical Field

The invention belongs to the technical field of measuring instruments, and particularly relates to a high-precision six-component balance and a method.

Background

Along with the development of industrial measurement and control, the accurate measurement of six-dimensional force and moment components in three directions orthogonal to space in the fields of aerospace, industrial robot mechanical arms and the like is more and more widely achieved, and the six-component level of a widely used six-dimensional force sensor belongs to the application. The six-component balance applied to the conventional wind tunnel test has the problems of complex structure, weak rigidity, small sensitivity, and particularly complex decoupling between six-dimensional force and moment components, large mutual interference influence and low precision.

Disclosure of Invention

The invention aims to provide a high-precision six-component balance and a method thereof, which are used for solving the problem of low measurement precision of the six-component balance in the prior art.

In order to achieve the above purpose, the invention adopts the following technical scheme:

the invention provides a high-precision six-component balance, which comprises an upper end bearing positioning and mounting structure and a lower end bearing positioning and mounting structure; the upper end bearing positioning and mounting structure and the lower end bearing positioning and mounting structure are connected through rectangular upright posts; the rectangular upright post comprises an upper part, a middle part and a lower part, and the cross section of the upper part and the lower part of the rectangular upright post is larger than the cross section area of the middle part of the rectangular upright post;

The rectangular upright post comprises a central rectangular upright post and a plurality of edge rectangular upright posts;

the central rectangular upright posts are connected with the central positions of the upper end bearing positioning mounting structure and the lower end bearing positioning mounting structure, and the plurality of edge rectangular upright posts are arranged in a central symmetry mode by taking the central rectangular upright posts as the centers;

and the central rectangular upright post and the plurality of edge rectangular upright posts are respectively provided with a resistance strain gauge, and the resistance strain gauges form a Wheatstone bridge and are respectively used for measuring X-direction component force, Y-direction component force, Z-direction component moment, X-direction component moment, Y-direction component moment and Z-direction component force.

Optionally, the end surfaces at the top end of the upper end bearing positioning and mounting structure and the bottom end of the lower end bearing positioning and mounting structure are respectively provided with a positioning and bearing structure;

one or more of a positioning pin hole, a convex positioning flat and a concave positioning key groove are respectively arranged on the end surfaces of the top end of the upper end bearing positioning mounting structure and the bottom end of the lower end bearing positioning mounting structure.

Optionally, the shell is further provided outside the upper end bearing positioning installation structure and the lower end bearing positioning installation structure, and an electric connector for measuring the X-direction component force, the Y-direction component force, the Z-direction component force, the X-direction component force, the Y-direction component force and the Z-direction component force is installed on the shell, and the electric connector is respectively connected with a Wheatstone bridge for measuring the X-direction component force, the Y-direction component force, the Z-direction component force, the X-direction component force, the Y-direction component force and the Z-direction component force through a measuring circuit board.

Optionally, the first end of the shell is welded and fixed on the lower end bearing, positioning and mounting structure after interference fit; the outer peripheral surface of the upper end bearing, positioning and mounting structure is provided with an annular groove, a sealing ring is arranged between the second end of the shell and the upper end bearing, positioning and mounting structure in a sealing connection mode, and the sealing ring is arranged in the annular groove.

Optionally, a C-shaped gap of 0.02 mm-0.2 mm is arranged between the housing and the upper end bearing, positioning and mounting structure, and the C-shaped gap comprises the following components: the upper end bearing positioning mounting structure is positioned in an annular transverse gap along the axial direction between the side wall of the annular groove and the shell, an annular vertical gap along the radial direction between Zhou Xiangtai at the edge of the upper part of the upper end bearing positioning mounting structure and the structure extending from the top of the shell to the inner ring, and an annular vertical gap along the radial direction between Zhou Xiangtai at the edge of the lower part of the upper end bearing positioning mounting structure and the structure extending from the inner part of the shell to the inner ring.

Optionally, the electrical connector is used for connecting a data acquisition system, measuring an output electrical signal of the wheatstone bridge, and inputting an excitation signal to the wheatstone bridge.

Optionally, the number of the edge rectangular stand columns is 4, 4 edge rectangular stand columns are respectively located on four vertexes of a diamond, the center rectangular stand column is arranged at the center of the diamond, and two opposite vertex connecting lines of the diamond are parallel to an X axis or a Y axis.

According to a second aspect of the invention, a component force and component moment measuring method is provided, and based on the high-precision six-component balance, the method comprises the following steps:

defining two edge rectangular upright posts with connecting lines parallel to the Y axis as a first edge rectangular upright post and a second edge rectangular upright post respectively, and defining two edge rectangular upright posts with connecting lines parallel to the X axis as a third edge rectangular upright post and a fourth edge rectangular upright post respectively;

the middle parts of the first edge rectangular upright post and the second edge rectangular upright post are parallel to the side face of the X axis, and a resistance strain gauge is respectively stuck to the total of 4 positions to form a Wheatstone bridge, so that Mx component moment is measured;

the middle parts of the third edge rectangular stand column and the fourth edge rectangular stand column are parallel to the side face of the Y axis, and a resistance strain gauge is respectively stuck to the total of 4 positions to form a Wheatstone bridge, so that My split moment is measured;

the upper parts of the third edge rectangular stand column and the fourth edge rectangular stand column are parallel to the side face of the X axis, and a resistance strain gauge is respectively stuck to the total of 4 positions to form a Wheatstone bridge, so that Mz split moment is measured;

or, the lower parts of the third edge rectangular stand column and the fourth edge rectangular stand column are parallel to the side face of the X axis, and a resistance strain gauge is respectively stuck to the total 4 positions to form a Wheatstone bridge, so that Mz split moment is measured;

Or, the upper parts of the first edge rectangular upright post and the second edge rectangular upright post are parallel to the side surface of the Y axis, and a resistance strain gauge is respectively stuck on the total 4 positions to form a Wheatstone bridge, so that Mz split moment is measured;

or, the lower parts of the first edge rectangular upright post and the second edge rectangular upright post are parallel to the side surface of the Y axis, and a resistance strain gauge is respectively stuck on the total 4 positions to form a Wheatstone bridge, so that Mz split moment is measured;

or, the upper and lower parts of the third edge rectangular stand column and the fourth edge rectangular stand column are parallel to the side surface of the X axis, and a resistance strain gauge is respectively stuck on 8 positions to form a Wheatstone bridge, so that Mz split moment is measured;

or, the upper and lower parts of the first edge rectangular upright post and the second edge rectangular upright post are parallel to the side surface of the Y axis, and a resistance strain gauge is respectively stuck on 8 positions to form a Wheatstone bridge, so that Mz split moment is measured;

or the upper and lower parts of the third edge rectangular stand column and the fourth edge rectangular stand column are parallel to the side surfaces of the X axis, the upper and lower parts of the first edge rectangular stand column and the second edge rectangular stand column are parallel to the side surfaces of the Y axis, and a total of 16 positions are respectively stuck with a resistance strain gauge to form a Wheatstone bridge, and Mz partial moment is measured;

Or the upper and lower parts of the third edge rectangular stand column and the fourth edge rectangular stand column are parallel to the side surfaces of the X axis, the upper and lower parts of the first edge rectangular stand column are parallel to the side surfaces of the Y axis, and a total of 12 positions are respectively stuck with a resistance strain gauge to form a Wheatstone bridge, and Mz split moment is measured;

or the upper and lower parts of the third edge rectangular stand column and the fourth edge rectangular stand column are parallel to the side surfaces of the X axis, the upper and lower parts of the second edge rectangular stand column are parallel to the side surfaces of the Y axis, and a total of 12 positions are respectively stuck with a resistance strain gauge to form a Wheatstone bridge, and Mz split moment is measured;

or the upper and lower parts of the third edge rectangular stand column are parallel to the side surfaces of the X axis, the upper and lower parts of the first edge rectangular stand column and the second edge rectangular stand column are parallel to the side surfaces of the Y axis, and a total of 12 positions are respectively stuck with a resistance strain gauge to form a Wheatstone bridge, and Mz sub-moment is measured;

or the upper and lower parts of the fourth edge rectangular stand column are parallel to the side surfaces of the X axis, the upper and lower parts of the first edge rectangular stand column and the second edge rectangular stand column are parallel to the side surfaces of the Y axis, and a total of 12 positions are respectively stuck with a resistance strain gauge to form a Wheatstone bridge, and Mz sub-moment is measured;

The upper part and the lower part of the central rectangular upright post are parallel to the side surface of the Y axis, and a total of 4 positions are respectively stuck with a resistance strain gauge to form a Wheatstone bridge, so that Fx component force is measured;

or the upper part and the lower part of the third edge rectangular upright post and the fourth edge rectangular upright post are parallel to the outer side surface of the Y axis, and a total of 4 positions are respectively stuck with a resistance strain gauge to form a Wheatstone bridge, and Fx component force is measured;

or the upper and lower parts of the third edge rectangular upright post and the fourth edge rectangular upright post are parallel to the inner side surface of the Y axis, and a total of 4 positions are respectively stuck with a resistance strain gauge to form a Wheatstone bridge, and Fx component force is measured;

or the upper part and the lower part of the central rectangular upright post are parallel to the side surfaces of the Y axis, the upper part and the lower part of the third edge rectangular upright post and the fourth edge rectangular upright post are parallel to the outer side surfaces of the Y axis, and a total of 8 positions are respectively stuck with a resistance strain gauge to form a Wheatstone bridge, and Fx component force is measured;

or the upper part and the lower part of the central rectangular upright post are parallel to the side surfaces of the Y axis, the upper part and the lower part of the third edge rectangular upright post and the fourth edge rectangular upright post are parallel to the inner side surfaces of the Y axis, and a total of 8 positions are respectively stuck with a resistance strain gauge to form a Wheatstone bridge, and Fx component force is measured;

Or the upper and lower parts of the third edge rectangular stand column and the fourth edge rectangular stand column are parallel to the outer side surfaces of the Y axis, the upper and lower parts of the third edge rectangular stand column and the fourth edge rectangular stand column are parallel to the inner side surfaces of the Y axis, and a total of 8 positions are respectively stuck with a resistance strain gauge to form a Wheatstone bridge, and Fx component force is measured;

the upper part and the lower part of the central rectangular upright post are parallel to the side surface of the X axis, and a total of 4 positions are respectively stuck with a resistance strain gauge to form a Wheatstone bridge, so that Fy component force is measured;

or the upper part and the lower part of the first edge rectangular upright post and the second edge rectangular upright post are parallel to the outer side surface of the X axis, and a total of 4 positions are respectively stuck with a resistance strain gauge to form a Wheatstone bridge, and Fy component force is measured;

or the upper and lower parts of the first edge rectangular upright post and the second edge rectangular upright post are parallel to the inner side surface of the X axis, and a total of 4 positions are respectively stuck with a resistance strain gauge to form a Wheatstone bridge, and Fy component force is measured;

or the upper part and the lower part of the central rectangular upright post are parallel to the side surfaces of the X axis, the upper part and the lower part of the first edge rectangular upright post and the second edge rectangular upright post are parallel to the outer side surfaces of the X axis, and a total of 8 positions are respectively stuck with a resistance strain gauge to form a Wheatstone bridge, and Fy component force is measured;

Or the upper part and the lower part of the central rectangular upright post are parallel to the side surfaces of the X axis, the upper part and the lower part of the first edge rectangular upright post and the second edge rectangular upright post are parallel to the inner side surfaces of the X axis, and a total of 8 positions are respectively stuck with a resistance strain gauge to form a Wheatstone bridge, and Fy component force is measured;

or the upper and lower parts of the first edge rectangular upright post and the second edge rectangular upright post are parallel to the outer side surfaces of the X axis, the upper and lower parts of the first edge rectangular upright post and the second edge rectangular upright post are parallel to the inner side surfaces of the X axis, and a total of 8 positions are respectively stuck with a resistance strain gauge to form a Wheatstone bridge, and Fy component force is measured;

or the upper part and the lower part of the central rectangular upright post are parallel to the side surfaces of the X axis, the upper part and the lower part of the first edge rectangular upright post and the second edge rectangular upright post are parallel to the outer side surfaces of the X axis, the upper part and the lower part of the first edge rectangular upright post and the second edge rectangular upright post are parallel to the inner side surfaces of the X axis, and a total of 12 positions are respectively stuck with a resistance strain gauge to form a Wheatstone bridge, and Fy component force is measured;

four sides of the middle part of the central rectangular upright post are respectively stuck with a resistance strain gauge at 4 positions to form a Wheatstone bridge for measurement, and Fz component force is measured;

Or, the four sides of the middle parts of the first edge rectangular upright post and the second edge rectangular upright post are respectively stuck with a resistance strain gauge at 8 positions to form a Wheatstone bridge, and Fz component force is measured;

or, the four sides of the middle parts of the third edge rectangular stand column and the fourth edge rectangular stand column are respectively stuck with a resistance strain gauge at 8 positions to form a Wheatstone bridge, and Fz component force is measured;

or, the four sides of the middle positions of the central rectangular upright post, the first edge rectangular upright post and the second edge rectangular upright post are respectively stuck with a resistance strain gauge at 12 positions to form a Wheatstone bridge, and Fz component force is measured;

or, the four sides of the middle positions of the central rectangular upright post, the third edge rectangular upright post and the fourth edge rectangular upright post are respectively stuck with a resistance strain gauge at 12 positions to form a Wheatstone bridge, and Fz component force is measured;

or the four sides of the middle positions of the first edge rectangular stand column, the second edge rectangular stand column, the third edge rectangular stand column and the fourth edge rectangular stand column are respectively stuck with a resistance strain gauge at 16 positions to form a Wheatstone bridge, and Fz component force is measured;

Or the four sides of the middle positions of the central rectangular upright post, the first edge rectangular upright post, the second edge rectangular upright post, the third edge rectangular upright post and the fourth edge rectangular upright post are respectively stuck with a resistance strain gauge at 20 positions to form a Wheatstone bridge, and Fz component force is measured.

Optionally, the central rectangular upright post and the edge rectangular upright posts are of an integral structure formed by an upper part, a middle part and a lower part along the Z direction, and the cross section is rectangular.

Optionally, the sensitivity of Fx component force and Fy component force measurement is realized by adjusting the length and width dimensions of the rectangular cross section of the rectangular upright post along the Z direction along the X direction and the Y direction and the Z direction;

the sensitivity of Fz component force measurement is realized by adjusting the length and width dimensions of the rectangular column along the X direction and the Y direction of the rectangular cross section at the middle part along the Z direction;

the sensitivity of Mx component moment and My component moment measurement is realized by adjusting the central position of the rectangular upright post and the length and width dimensions of the rectangular cross section along the Z direction and the X direction and the Y direction;

the sensitivity of Mx component moment measurement is realized by adjusting the distance between the central diamond of the rectangular upright post and the top point of a diagonal line parallel to the Y axis and the length and width dimensions of a rectangular transverse cross section along the Z direction and the middle part along the X direction and the Y direction;

The sensitivity of My component moment measurement is realized by adjusting the distance between the central diamond of the rectangular upright post and the vertex of a diagonal line parallel to the X axis and the length and width dimensions of a rectangular cross section along the Z direction and the Y direction;

the sensitivity of Mz component moment measurement is realized by adjusting the central position of the rectangular upright post and the length and width dimensions of the rectangular transverse cross section of the upper part and the lower part along the Z direction along the X direction, the Y direction and the Z direction.

Compared with the prior art, the invention has the following beneficial technical effects:

1) The high-precision six-component balance provided by the embodiment of the invention adopts three groups of resistance strain gauges adhered to the side surfaces of the middle parts of a plurality of upright posts which are regularly arranged to form a sensitive Wheatstone bridge, and the sensitive Wheatstone bridge is respectively used for measuring X-direction component moment Mx, Y-direction component moment My and Z-direction component force Fz; three groups of resistance strain gauges are adhered to the upper side surfaces and the lower side surfaces of the upright posts which are regularly arranged to form a sensitive Wheatstone bridge, and the sensitive Wheatstone bridge is used for measuring X-direction component force Fx, Y-direction component force Fy and Z-direction component force moment Mz respectively; through the structure and the mode, the self-decoupling design is realized, the mutual interference influence of the measured six-component force and moment is small, and the triaxial six-component force and moment applied to a high-precision six-component balance can be accurately measured.

2) The high-precision six-component balance provided by the embodiment of the invention adopts an integral body structure composed of an upper end bearing positioning and mounting structure, a lower end bearing positioning and mounting structure and a plurality of regularly arranged upright posts, so that the structure is simplified, the processing is simple, the processing precision of key dimensions is ensured, and the optimal boundary conditions of high-precision positioning and high-precision measurement are realized; the transverse section of the vertical column along the Z direction is rectangular, the length and width dimensions of the vertical column are respectively larger than those of the rectangular section of the middle part, and the number of the vertical column is five or seven or nine which are arranged according to a certain rule, so that the rigidity strength of the integral structure of the high-precision six-component balance is improved, and the testing range is effectively increased.

3) According to the high-precision six-component balance provided by the embodiment of the invention, the sensitivity of six-component force and moment measurement can be effectively improved by adjusting the length, width, height and size of each part of the rectangular upright posts, the distance size among the rectangular upright posts and the like, and the wide adaptability and serialization of measurement ranges are realized.

4) According to the high-precision six-component balance provided by the embodiment of the invention, one end of the shell component is in interference fit and then is reliably fixed on the six-dimensional force sensitive element by welding, the other end of the shell component is sealed and protected by the annular sealing structure, and overload protection is realized by a C-shaped annular gap of 0.02 mm-0.2 mm formed by the shell component and the upper end bearing and positioning mounting structure.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:

FIG. 1 is a schematic view of the appearance of a high-precision six-component balance according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a high-precision six-component balance in semi-section according to an embodiment of the present invention;

FIG. 3 is a schematic perspective view of a rectangular column in accordance with an embodiment of the present invention;

FIG. 4 is a schematic diagram of a middle structure in an embodiment of the present invention;

FIG. 5 is a top view of a rectangular post in accordance with an embodiment of the present invention;

FIG. 6 is a schematic diagram of a resistance strain gauge installation in an embodiment of the invention;

FIG. 7 is a schematic view of seven rectangular columns according to an embodiment of the present invention;

FIG. 8 is a schematic view of nine rectangular posts according to an embodiment of the invention

In the figure, 1, the upper end carries the positioning and mounting structure; 2, a lower end bearing positioning and mounting structure; 3, a central rectangular upright post; 4, rectangular upright posts at the edge; 41 first edge rectangular posts; 42 second edge rectangular posts; 43 third edge rectangular posts; 44 fourth edge rectangular posts; a 5-resistance strain gauge; 6, positioning a bearing structure; 7, a shell; 8 an electrical connector; 9, sealing rings; 10 gaps; 11 annular grooves.

Detailed Description

The invention will be described in detail below with reference to the drawings in connection with embodiments. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.

The following detailed description is exemplary and is intended to provide further details of the invention. Unless defined otherwise, all technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the invention.

As shown in fig. 1 to 3, in a first aspect of the embodiment of the present invention, there is provided a high-precision six-component balance including an upper end carrying positioning mounting structure 1 and a lower end carrying positioning mounting structure 2; the upper end bearing positioning and mounting structure 1 and the lower end bearing positioning and mounting structure 2 are connected through rectangular upright posts to form an integral six-dimensional force sensitive structure; the rectangular upright post comprises an upper part, a middle part and a lower part along the Z direction, the cross section is rectangular, and the cross sections of the upper part and the lower part are both larger than the cross section area of the middle part rectangular upright post.

Specifically, the rectangular upright post comprises a central rectangular upright post 3 and a plurality of edge rectangular upright posts 4; when the number of the rectangular stand columns is five, the number of the edge rectangular stand columns 4 is 4, the 4 edge rectangular stand columns 4 are respectively positioned on four vertexes of a diamond, the center rectangular stand column 3 is arranged at the center of the diamond, and two opposite vertex connecting lines of the diamond are parallel to an X axis or a Y axis.

The central rectangular upright posts 3 are arranged at the central positions of the upper end bearing positioning and mounting structure 1 and the lower end bearing positioning and mounting structure 2, and the plurality of edge rectangular upright posts 4 are arranged in a central symmetry manner by taking the central rectangular upright posts 3 as the centers; the central rectangular upright post 3 and the plurality of edge rectangular upright posts 4 are respectively provided with a resistance strain gauge 5, and the resistance strain gauges 5 form a Wheatstone bridge which is respectively used for measuring X-direction component force, Y-direction component force, Z-direction component force, X-direction component force, Y-direction component force and Z-direction component force.

As an example of this embodiment, the upper end bearing positioning and mounting structure 1 and the lower end bearing positioning and mounting structure 2 are both circular, and the centers of the circles of the upper end bearing positioning and mounting structure 1 and the lower end bearing positioning and mounting structure 2 are on the same axis.

As an example of this embodiment, the center rectangular column 3 and the edge rectangular column 4 are each an integral structure composed of upper, middle and lower three parts in the Z direction, and have rectangular cross sections.

As a preference of this embodiment, the top end of the upper end bearing positioning and mounting structure 1 and the end face of the bottom end of the lower end bearing positioning and mounting structure 2 are respectively provided with a positioning and bearing structure 6.

As an example of the present embodiment, one or more of a positioning pin hole, a convex positioning flat and a concave positioning key groove are respectively provided on the end surfaces of the top end of the upper end bearing positioning mounting structure 1 and the bottom end of the lower end bearing positioning mounting structure 2.

The embodiment of the invention is characterized in that the upper end bearing positioning and mounting structure 1 and the lower end bearing positioning and mounting structure 2 are also provided with a shell 7, and an electric connector 8 for X-direction component force, Y-direction component force, Z-direction component force, X-direction component force, Y-direction component force and Z-direction component force is arranged on the shell 7, and the electric connector 8 is respectively connected with a Wheatstone bridge for X-direction component force, Y-direction component force, Z-direction component force, X-direction component force, Y-direction component force and Z-direction component force through a measuring circuit board. The electrical connector 8 is used for connecting to a data acquisition system for measuring the output electrical signals of the wheatstone bridge and inputting excitation signals to the wheatstone bridge.

As an example of this embodiment, the first end of the housing 7 is welded and fixed to the lower end bearing positioning and mounting structure 2 after interference fit.

As a preference of the embodiment, an annular groove 11 is arranged on the peripheral surface of the upper end bearing positioning and mounting structure 1, a sealing ring 9 is arranged between the second end of the shell 7 and the upper end bearing positioning and mounting structure 1 for sealing connection, and the sealing ring 9 is arranged in the annular groove 11; a C-shaped gap 10 of 0.02 mm-0.2 mm is arranged between the shell 7 and the upper end bearing, positioning and mounting structure 1, and as shown in fig. 4, the C-shaped gap 10 comprises the following components: the upper end bearing positioning mounting structure 1 is located at an annular transverse gap along the axial direction between the side wall of the annular groove 11 and the outer shell 7, an annular vertical gap along the radial direction between Zhou Xiangtai at the edge of the upper part of the upper end bearing positioning mounting structure 1 and the inward-extending structure at the top of the outer shell 7, and an annular vertical gap along the radial direction between Zhou Xiangtai at the edge of the lower part of the upper end bearing positioning mounting structure 1 and the inward-extending structure inside the outer shell 7.

In the embodiment applied to the present invention, two edge rectangular posts 4 connected in parallel to the Y axis are defined as a first edge rectangular post 41 and a second edge rectangular post 42, respectively, and two edge rectangular posts 4 connected in parallel to the X axis are defined as a third edge rectangular post 43 and a fourth edge rectangular post 44, respectively;

The middle parts of the first edge rectangular upright post 41 and the second edge rectangular upright post 42 are parallel to the side surface of the X axis, and a resistance strain gauge 5 is respectively stuck on the total 4 positions to form a Wheatstone bridge for measuring the Mx component moment;

the middle parts of the third edge rectangular stand column 43 and the fourth edge rectangular stand column 44 are parallel to the side face of the Y axis, and a resistance strain gauge 5 is respectively stuck on the total 4 positions to form a Wheatstone bridge for measuring My component moment;

the upper parts of the third edge rectangular upright post 43 and the fourth edge rectangular upright post 44 are parallel to the side surface of the X axis, and a resistance strain gauge 5 is respectively stuck on the total 4 positions to form a Wheatstone bridge for measuring the Mz component moment;

or, the lower parts of the third edge rectangular stand column 43 and the fourth edge rectangular stand column 44 are parallel to the side surface of the X axis, and a resistance strain gauge 5 is respectively stuck on the total 4 positions to form a Wheatstone bridge for measuring the Mz component moment;

or, the upper parts of the first edge rectangular upright post 41 and the second edge rectangular upright post 42 are parallel to the side surface of the Y axis, and a resistance strain gauge 5 is respectively stuck on the total 4 positions to form a Wheatstone bridge for measuring the Mz component moment;

or, the lower parts of the first edge rectangular upright post 41 and the second edge rectangular upright post 42 are parallel to the side surface of the Y axis, and a resistance strain gauge 5 is respectively stuck on the total 4 positions to form a Wheatstone bridge for measuring the Mz component moment;

Or, the upper and lower parts of the third edge rectangular upright post 43 and the fourth edge rectangular upright post 44 are parallel to the side surface of the X axis, and a resistance strain gauge 5 is respectively stuck on 8 positions to form a Wheatstone bridge for measuring the Mz component moment;

or, the upper and lower parts of the first edge rectangular upright 41 and the second edge rectangular upright 42 are parallel to the side surface of the Y axis, and a resistance strain gauge 5 is respectively stuck on 8 positions to form a Wheatstone bridge for measuring the Mz component moment;

alternatively, the upper and lower parts of the third edge rectangular column 43 and the fourth edge rectangular column 44 are parallel to the side surfaces of the X axis, the upper and lower parts of the first edge rectangular column 41 and the second edge rectangular column 42 are parallel to the side surfaces of the Y axis, and a total of 16 positions are respectively stuck with one resistance strain gauge 5 to form a wheatstone bridge for measuring the Mz component moment;

or, the upper and lower parts of the third edge rectangular stand column 43 and the fourth edge rectangular stand column 44 are parallel to the side surface of the X axis, the upper and lower parts of the first edge rectangular stand column 41 are parallel to the side surface of the Y axis, and a total of 12 positions are respectively stuck with one resistance strain gauge 5 to form a Wheatstone bridge for measuring the Mz component moment;

or, the upper and lower parts of the third edge rectangular upright 43 and the fourth edge rectangular upright 44 are parallel to the side surface of the X axis, the upper and lower parts of the second edge rectangular upright 42 are parallel to the side surface of the Y axis, and a total of 12 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge for measuring the Mz component moment;

Or, the upper and lower parts of the third edge rectangular stand column 43 are parallel to the side surfaces of the X axis, the upper and lower parts of the first edge rectangular stand column 41 and the second edge rectangular stand column 42 are parallel to the side surfaces of the Y axis, and a total of 12 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge for measuring the Mz component moment;

or, the upper and lower positions of the fourth edge rectangular stand column 44 are parallel to the side surfaces of the X axis, the upper and lower positions of the first edge rectangular stand column 41 and the second edge rectangular stand column 42 are parallel to the side surfaces of the Y axis, and a total of 12 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge for measuring Mz split moment.

The upper part and the lower part of the central rectangular upright post 3 are parallel to the side surface of the Y axis, and a total of 4 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge for measuring Fx component force;

or, the upper and lower parts of the third edge rectangular upright post 43 and the fourth edge rectangular upright post 44 are parallel to the outer side surface of the Y axis, and a total of 4 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge for measuring Fx component force;

or, the upper and lower parts of the third edge rectangular upright post 43 and the fourth edge rectangular upright post 44 are parallel to the inner side surface of the Y axis, and a total of 4 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge for measuring Fx component force;

Or, the upper and lower parts of the central rectangular upright 3, the side surfaces parallel to the Y axis, the upper and lower parts of the third edge rectangular upright 43 and the fourth edge rectangular upright 44, the outer side surfaces parallel to the Y axis, and a total of 8 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge for measuring Fx component force;

or, the upper and lower parts of the central rectangular upright 3, the side surfaces parallel to the Y axis, the upper and lower parts of the third edge rectangular upright 43 and the fourth edge rectangular upright 44, the inner side surfaces parallel to the Y axis, and a total of 8 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge for measuring Fx component force;

or, the upper and lower parts of the third edge rectangular upright post 43 and the fourth edge rectangular upright post 44 are parallel to the outer side surfaces of the Y axis, the upper and lower parts of the third edge rectangular upright post 43 and the fourth edge rectangular upright post 44 are parallel to the inner side surfaces of the Y axis, and a total of 8 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge for measuring Fx component force;

the upper part and the lower part of the central rectangular upright post 3 are parallel to the side surface of the X axis, and a total of 4 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge for measuring Fy component force;

Or, the upper and lower parts of the first edge rectangular upright 41 and the second edge rectangular upright 42 are parallel to the outer side surface of the X axis, and a total of 4 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge for measuring Fy component force;

or, the upper and lower parts of the first edge rectangular upright 41 and the second edge rectangular upright 42 are parallel to the inner side surface of the X axis, and a total of 4 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge for measuring Fy component force;

or the upper and lower parts of the central rectangular upright 3, the side surfaces of the parallel X axis, the upper and lower parts of the first edge rectangular upright 41 and the second edge rectangular upright 42, the outer side surfaces of the parallel X axis, 8 positions in total are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge for measuring Fy component force;

or the upper and lower parts of the central rectangular upright 3, the side surfaces of the parallel X axis, the upper and lower parts of the first edge rectangular upright 41 and the second edge rectangular upright 42, the inner side surfaces of the parallel X axis, and 8 positions in total are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge for measuring Fy component force;

or, the upper and lower parts of the first edge rectangular upright 41 and the second edge rectangular upright 42 are parallel to the outer side surfaces of the X axis, the upper and lower parts of the first edge rectangular upright 41 and the second edge rectangular upright 42 are parallel to the inner side surfaces of the X axis, and a total of 8 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge for measuring Fy component force;

Or the upper and lower parts of the central rectangular upright 3, the side surfaces of the parallel X axis, the upper and lower parts of the first edge rectangular upright 41 and the second edge rectangular upright 42, the outer side surfaces of the parallel X axis, the upper and lower parts of the first edge rectangular upright 41 and the second edge rectangular upright 42, the inner side surfaces of the parallel X axis, and 12 positions in total are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge for measuring Fy component force;

four sides of the middle part of the central rectangular upright post 3 are respectively stuck with a resistance strain gauge 5 at 4 positions to form Wheatstone bridge measurement for Fz component force;

or, the four sides of the middle parts of the first edge rectangular upright post 41 and the second edge rectangular upright post 42 are respectively stuck with a resistance strain gauge 5 at 8 positions to form a Wheatstone bridge for measuring Fz component force;

or, the four sides of the middle parts of the third edge rectangular stand column 43 and the fourth edge rectangular stand column 44 are respectively stuck with a resistance strain gauge 5 at 8 positions to form a Wheatstone bridge for measuring Fz component force;

or, the four sides of the middle positions of the central rectangular upright post 3, the first edge rectangular upright post 41 and the second edge rectangular upright post 42 are respectively stuck with a resistance strain gauge 5 at 12 positions to form a Wheatstone bridge for measuring Fz component force;

Or, the four sides of the middle positions of the central rectangular upright post 3, the third edge rectangular upright post 43 and the fourth edge rectangular upright post 44 are respectively stuck with a resistance strain gauge 5 at 12 positions to form a Wheatstone bridge for measuring Fz component force;

or, the four sides of the middle parts of the first edge rectangular upright 41, the second edge rectangular upright 42, the third edge rectangular upright 43 and the fourth edge rectangular upright 44 are respectively stuck with a resistance strain gauge 5 at 16 positions to form a Wheatstone bridge for measuring Fz component force;

or, the four sides of the middle positions of the central rectangular upright 3, the first edge rectangular upright 41, the second edge rectangular upright 42, the third edge rectangular upright 43 and the fourth edge rectangular upright 44 are respectively stuck with a resistance strain gauge 5 at 20 positions to form a Wheatstone bridge for measuring Fz component force.

In a specific embodiment of the invention, as shown in fig. 6, an arrangement of resistance strain gauges RFxC1, RFxT1, RFxC2, RFxT2 are shown, constituting a wheatstone bridge for measuring an X-direction component Fx;

the resistance strain gauges RFyC1, RFyT1, RFyC2 and RFyT2 form a Wheatstone bridge for measuring the Y-direction component force Fy;

the resistance strain gauges RFzC1, RFzT1, RFzC2 and RFzT2 form a Wheatstone bridge for measuring the Z-direction component force Fz;

The resistance strain gauges RMxC1, RMxT1, RMxC2, RMxT2 form wheatstone bridges for measuring the component moment Mx in the X-direction;

the resistance strain gauges RMyC1, RMyT1, RMyC2, RMyT2 constitute a wheatstone bridge that measures the Y-direction component moment My;

the resistive strain gauges RMzC1, RMzT1, RMzC2, RMzT2, RMzC3, RMzT3, RMzC4, RMzT4 constitute wheatstone bridges for measuring the Z-direction component moment Mz.

As shown in fig. 7 and 8, to achieve a larger-scale measurement of six-component force and moment, the number of rectangular columns may be seven or nine, which are arranged according to a certain rule, and the side surface of each rectangular column is parallel or perpendicular to the X-axis and the Y-axis.

two edge rectangular columns 4 whose lines are parallel to the Y axis are defined as a first edge rectangular column 41 and a second edge rectangular column 42, respectively, and two edge rectangular columns 4 whose lines are parallel to the X axis are defined as a third edge rectangular column 43 and a fourth edge rectangular column 44, respectively;

the middle parts of the first edge rectangular upright post 41 and the second edge rectangular upright post 42 are parallel to the side surface of the X axis, and a resistance strain gauge 5 is respectively stuck on the total 4 positions to form a Wheatstone bridge, so that Mx component moment is measured;

The middle parts of the third edge rectangular stand column 43 and the fourth edge rectangular stand column 44 are parallel to the side face of the Y axis, and a resistance strain gauge 5 is respectively stuck on the total 4 positions to form a Wheatstone bridge, and My component moment is measured;

the upper parts of the third edge rectangular stand column 43 and the fourth edge rectangular stand column 44 are parallel to the side surface of the X axis, and a resistance strain gauge 5 is respectively stuck on the total 4 positions to form a Wheatstone bridge, so that Mz split moment is measured;

or, the lower parts of the third edge rectangular stand column 43 and the fourth edge rectangular stand column 44 are parallel to the side surface of the X axis, and a resistance strain gauge 5 is respectively stuck on the total 4 positions to form a Wheatstone bridge, so that Mz split moment is measured;

or, the upper parts of the first edge rectangular upright post 41 and the second edge rectangular upright post 42 are parallel to the side surface of the Y axis, and a resistance strain gauge 5 is respectively stuck on the total 4 positions to form a Wheatstone bridge, so that Mz split moment is measured;

or, the lower parts of the first edge rectangular upright post 41 and the second edge rectangular upright post 42 are parallel to the side surface of the Y axis, and a resistance strain gauge 5 is respectively stuck on the total 4 positions to form a Wheatstone bridge, so that Mz split moment is measured;

or, the upper and lower parts of the third edge rectangular upright post 43 and the fourth edge rectangular upright post 44 are parallel to the side surface of the X axis, and a resistance strain gauge 5 is respectively stuck on 8 positions to form a Wheatstone bridge, so that Mz partial moment is measured;

Or, the upper and lower parts of the first edge rectangular upright 41 and the second edge rectangular upright 42 are parallel to the side surface of the Y axis, and a resistance strain gauge 5 is respectively stuck on 8 positions to form a Wheatstone bridge for measuring Mz split moment;

or, the upper and lower parts of the third edge rectangular stand column 43 and the fourth edge rectangular stand column 44 are parallel to the side surfaces of the X axis, the upper and lower parts of the first edge rectangular stand column 41 and the second edge rectangular stand column 42 are parallel to the side surfaces of the Y axis, and a total of 16 positions are respectively stuck with one resistance strain gauge 5 to form a Wheatstone bridge, and Mz partial moment is measured;

or, the upper and lower parts of the third edge rectangular stand column 43 and the fourth edge rectangular stand column 44 are parallel to the side surface of the X axis, the upper and lower parts of the first edge rectangular stand column 41 are parallel to the side surface of the Y axis, and a total of 12 positions are respectively stuck with one resistance strain gauge 5 to form a Wheatstone bridge, and Mz split moment is measured;

or, the upper and lower parts of the third edge rectangular stand column 43 and the fourth edge rectangular stand column 44 are parallel to the side surface of the X axis, the upper and lower parts of the second edge rectangular stand column 42 are parallel to the side surface of the Y axis, and a total of 12 positions are respectively stuck with one resistance strain gauge 5 to form a Wheatstone bridge, and Mz split moment is measured;

Or, the upper and lower parts of the third edge rectangular stand column 43 are parallel to the side surfaces of the X axis, the upper and lower parts of the first edge rectangular stand column 41 and the second edge rectangular stand column 42 are parallel to the side surfaces of the Y axis, and a total of 12 positions are respectively stuck with one resistance strain gauge 5 to form a Wheatstone bridge, and Mz split moment is measured;

or, the upper and lower parts of the fourth edge rectangular stand column 44 are parallel to the side surfaces of the X axis, the upper and lower parts of the first edge rectangular stand column 41 and the second edge rectangular stand column 42 are parallel to the side surfaces of the Y axis, and a total of 12 positions are respectively stuck with one resistance strain gauge 5 to form a Wheatstone bridge, and Mz split moment is measured;

the upper part and the lower part of the central rectangular upright post 3 are parallel to the side surface of the Y axis, and a total of 4 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge, and Fx component force is measured;

or, the upper and lower parts of the third edge rectangular upright post 43 and the fourth edge rectangular upright post 44 are parallel to the outer side surface of the Y axis, and a total of 4 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge, and Fx component force is measured;

or, the upper and lower parts of the third edge rectangular upright post 43 and the fourth edge rectangular upright post 44 are parallel to the inner side surface of the Y axis, and a total of 4 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge, and Fx component force is measured;

Or the upper and lower parts of the central rectangular upright 3, the side surfaces parallel to the Y axis, the upper and lower parts of the third edge rectangular upright 43 and the fourth edge rectangular upright 44, the outer side surfaces parallel to the Y axis, and a total of 8 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge, and Fx component force is measured;

or the upper and lower parts of the central rectangular upright 3, the side surfaces of the parallel Y axis, the upper and lower parts of the third edge rectangular upright 43 and the fourth edge rectangular upright 44, the inner side surfaces of the parallel Y axis, 8 positions in total are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge, and Fx component force is measured;

or the upper and lower parts of the third edge rectangular stand column 43 and the fourth edge rectangular stand column 44 are parallel to the outer side surfaces of the Y axis, the upper and lower parts of the third edge rectangular stand column 43 and the fourth edge rectangular stand column 44 are parallel to the inner side surfaces of the Y axis, and a total of 8 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge, and Fx component force is measured;

the upper part and the lower part of the central rectangular upright post 3 are parallel to the side surface of the X axis, and a total of 4 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge, and Fy component force is measured;

or, the upper and lower parts of the first edge rectangular upright 41 and the second edge rectangular upright 42 are parallel to the outer side surface of the X axis, and a total of 4 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge, and Fy component force is measured;

Or, the upper and lower parts of the first edge rectangular upright 41 and the second edge rectangular upright 42 are parallel to the inner side surface of the X axis, and a total of 4 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge, and Fy component force is measured;

or the upper and lower parts of the central rectangular upright 3, the side surfaces of the parallel X axis, the upper and lower parts of the first edge rectangular upright 41 and the second edge rectangular upright 42, the outer side surfaces of the parallel X axis, 8 positions in total are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge, and Fy component force is measured;

or the upper and lower parts of the central rectangular upright 3, the side surfaces of the parallel X axis, the upper and lower parts of the first edge rectangular upright 41 and the second edge rectangular upright 42, the inner side surfaces of the parallel X axis, 8 positions in total are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge, and Fy component force is measured;

or, the upper and lower parts of the first edge rectangular upright 41 and the second edge rectangular upright 42 are parallel to the outer side surfaces of the X axis, the upper and lower parts of the first edge rectangular upright 41 and the second edge rectangular upright 42 are parallel to the inner side surfaces of the X axis, and a total of 8 positions are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge, and Fy component force is measured;

Or the upper and lower parts of the central rectangular upright 3, the side surfaces of the parallel X axis, the upper and lower parts of the first edge rectangular upright 41 and the second edge rectangular upright 42, the outer side surfaces of the parallel X axis, the upper and lower parts of the first edge rectangular upright 41 and the second edge rectangular upright 42, the inner side surfaces of the parallel X axis, and 12 positions in total are respectively stuck with a resistance strain gauge 5 to form a Wheatstone bridge, and Fy component force is measured;

four sides of the middle part of the central rectangular upright post 3 are respectively stuck with a resistance strain gauge 5 at 4 positions to form a Wheatstone bridge for measurement, and Fz component force;

or, the four sides of the middle parts of the first edge rectangular upright post 41 and the second edge rectangular upright post 42 are respectively stuck with a resistance strain gauge 5 at 8 positions to form a Wheatstone bridge, and Fz component force is measured;

or, the four sides of the middle parts of the third edge rectangular stand column 43 and the fourth edge rectangular stand column 44 are respectively stuck with a resistance strain gauge 5 at 8 positions to form a Wheatstone bridge, and Fz component force is measured;

or, the four sides of the middle positions of the central rectangular upright post 3, the first edge rectangular upright post 41 and the second edge rectangular upright post 42 are respectively stuck with a resistance strain gauge 5 at 12 positions to form a Wheatstone bridge, and Fz component force is measured;

Or, the four sides of the middle positions of the central rectangular upright post 3, the third edge rectangular upright post 43 and the fourth edge rectangular upright post 44 are respectively stuck with a resistance strain gauge 5 at 12 positions to form a Wheatstone bridge, and Fz component force is measured;

or, the four sides of the middle parts of the first edge rectangular upright 41, the second edge rectangular upright 42, the third edge rectangular upright 43 and the fourth edge rectangular upright 44 are respectively stuck with a resistance strain gauge 5 at 16 positions to form a Wheatstone bridge, and Fz component force is measured;

or the four sides of the middle positions of the central rectangular upright post 3, the first edge rectangular upright post 41, the second edge rectangular upright post 42, the third edge rectangular upright post 43 and the fourth edge rectangular upright post 44 are respectively stuck with a resistance strain gauge 5 at 20 positions to form a Wheatstone bridge, and Fz component force is measured.

In this embodiment, a method for adjusting sensitivity is also provided, which specifically includes the following steps:

the sensitivity of Fx component force and Fy component force measurement is realized by adjusting the rectangular transverse cross sections of the upper part and the lower part of the rectangular upright post along the Z direction, the length and width dimensions along the X direction and the Y direction and the dimension along the Z direction; the sensitivity of Fz component force measurement is realized by adjusting the length and width dimensions of the rectangular upright post along the X direction and the Y direction along the Z direction and the middle rectangular transverse cross section; the sensitivity of Mx component moment and My component moment measurement is realized by adjusting the central position of the rectangular upright post and the rectangular transverse cross section along the Z direction and the length and width dimensions along the X direction and the Y direction; the sensitivity of Mx component moment measurement is realized by adjusting the distance between the central diamond of the rectangular upright post and the vertex of the diagonal parallel to the Y axis and the length and width of the rectangular cross section along the Z direction and the middle part along the X direction; the sensitivity of My component moment measurement is realized by adjusting the distance between the central diamond of the rectangular upright post and the top point of the diagonal line parallel to the X axis and the length and width dimensions of the rectangular cross section along the Z direction and the Y direction; the sensitivity of Mz component moment measurement is realized by adjusting the central position of the rectangular upright post and the length and width dimensions of the rectangular transverse cross section along the X direction and the Y direction along the Z direction.

As shown in fig. 5, the sensitivity of Fx component force and Fy component force measurement is realized by adjusting the length dimension b along the X direction, the width dimension b1 along the Y direction and the Z direction dimension h of the rectangular cross section of the upper and lower rectangular upright post along the Z direction; the sensitivity of Fz component force measurement can be realized by adjusting the length dimension a along the X direction and the width dimension a1 along the Y direction of the rectangular cross section of the middle part of the rectangular upright post along the Z direction; the sensitivity of Mx component moment measurement can be realized by adjusting the central position dimension L1 of the rectangular upright post and the length dimension a along the X direction and the width dimension a1 along the Y direction of the rectangular cross section along the Z direction of the rectangular middle part, and the sensitivity of My component moment measurement can be realized by adjusting the central position dimension L of the rectangular upright post and the length dimension a along the X direction and the width dimension a1 along the Y direction of the rectangular cross section along the Z direction of the rectangular middle part; the sensitivity of Mz moment measurement can be achieved by adjusting the center positions L, L of the five rectangular posts and the rectangular cross-sectional cross-sections of the upper and lower sections along Z along the X-direction length dimension b, along the Y-direction width dimension b1, and along the Z-direction dimension h. By means of the mode, the high-precision six-component balance can effectively improve the sensitivity of six-component force and moment measurement through the coordinated design.

It will be appreciated by those skilled in the art that the present invention can be carried out in other embodiments without departing from the spirit or essential characteristics thereof. Accordingly, the above disclosed embodiments are illustrative in all respects, and not exclusive. All changes that come within the scope of the invention or equivalents thereto are intended to be embraced therein.

Claims

1. The high-precision six-component balance is characterized by comprising an upper end bearing positioning and mounting structure (1) and a lower end bearing positioning and mounting structure (2); the upper end bearing positioning mounting structure (1) and the lower end bearing positioning mounting structure (2) are connected through rectangular upright posts; the rectangular upright post comprises an upper part, a middle part and a lower part, and the cross section of the upper part and the lower part of the rectangular upright post is larger than the cross section area of the middle part of the rectangular upright post;

the rectangular upright post comprises a central rectangular upright post (3) and a plurality of edge rectangular upright posts (4); wherein the number of the edge rectangular stand columns (4) is at least 4;

the central rectangular upright posts (3) are connected with the central positions of the upper end bearing positioning mounting structure (1) and the lower end bearing positioning mounting structure (2), and a plurality of edge rectangular upright posts (4) are arranged in a central symmetry mode by taking the central rectangular upright posts (3) as the centers;

and the central rectangular upright post (3) and the plurality of edge rectangular upright posts (4) are respectively provided with a resistance strain gauge (5), and the resistance strain gauges (5) form a Wheatstone bridge which is respectively used for measuring X-direction component force, Y-direction component force, Z-direction component moment, X-direction component moment, Y-direction component moment and Z-direction component force.

2. The high-precision six-component balance according to claim 1, wherein the top end of the upper end bearing positioning mounting structure (1) and the end face of the bottom end of the lower end bearing positioning mounting structure (2) are respectively provided with a positioning bearing structure (6);

One or more of a positioning pin hole, a convex positioning flat and a concave positioning key groove are respectively arranged on the end surfaces of the top end of the upper end bearing positioning mounting structure (1) and the bottom end of the lower end bearing positioning mounting structure (2).

3. The high-precision six-component balance according to claim 1, wherein a housing (7) is further arranged outside the upper end bearing positioning mounting structure (1) and the lower end bearing positioning mounting structure (2), an electric connector (8) for measuring an X-direction component force, a Y-direction component force, a Z-direction component force, an X-direction component force, a Y-direction component force and a Z-direction component force is arranged on the housing (7), and the electric connector (8) is respectively connected with wheatstone bridges for measuring the X-direction component force, the Y-direction component force, the Z-direction component force, the X-direction component force, the Y-direction component force and the Z-direction component force through measuring circuit boards.

4. A high-precision six-component balance according to claim 3, characterized in that the first end of the housing (7) is welded and fixed on the lower end bearing positioning and mounting structure (2) after interference fit; the upper end bearing positioning and mounting structure (1) is characterized in that an annular groove (11) is formed in the peripheral surface of the upper end bearing positioning and mounting structure (1), a sealing ring (9) is arranged between the second end of the shell (7) and the upper end bearing positioning and mounting structure (1) in a sealing mode, and the sealing ring (9) is arranged in the annular groove (11).

5. The high-precision six-component balance according to claim 4, wherein a C-shaped gap (10) of 0.02 mm-0.2 mm is arranged between the housing (7) and the upper end bearing positioning mounting structure (1), and the C-shaped gap (10) comprises the following components: the upper end bearing positioning mounting structure (1) is positioned at an annular transverse gap along the axial direction between the side wall of the annular groove (11) and the shell (7), an annular vertical gap along the radial direction between Zhou Xiangtai at the edge of the upper part of the upper end bearing positioning mounting structure (1) and the inward-ring extending structure at the top of the shell (7), and an annular vertical gap along the radial direction between Zhou Xiangtai at the edge of the lower part of the upper end bearing positioning mounting structure (1) and the inward-ring extending structure inside the shell (7).

6. A high precision six-component balance according to claim 3, characterized in that the electrical connector (8) is adapted to connect to a data acquisition system, to measure the output electrical signal of the wheatstone bridge and to input an excitation signal to the wheatstone bridge.

7. The high-precision six-component balance according to claim 1, wherein the number of the edge rectangular posts (4) is 4, the 4 edge rectangular posts (4) are respectively positioned on four vertexes of a diamond, the center rectangular post (3) is arranged at the center of the diamond, and two opposite vertex connecting lines of the diamond are parallel to an X axis or a Y axis.

8. A component force and component moment measuring method based on the high-precision six-component balance of claim 7, characterized by comprising the steps of:

two edge rectangular columns (4) with the connecting line parallel to the Y axis are respectively defined as a first edge rectangular column (41) and a second edge rectangular column (42), and two edge rectangular columns (4) with the connecting line parallel to the X axis are respectively defined as a third edge rectangular column (43) and a fourth edge rectangular column (44);

the middle parts of the first edge rectangular stand column (41) and the second edge rectangular stand column (42) are parallel to the side face of the X axis, and a resistance strain gauge (5) is respectively stuck to the total 4 positions to form a Wheatstone bridge, so that Mx component moment is measured;

the middle parts of the third edge rectangular stand column (43) and the fourth edge rectangular stand column (44) are parallel to the side face of the Y axis, and a resistance strain gauge (5) is respectively stuck to the total 4 positions to form a Wheatstone bridge, and My split moment is measured;

the upper parts of the third edge rectangular stand column (43) and the fourth edge rectangular stand column (44) are parallel to the side face of the X axis, and a resistance strain gauge (5) is respectively stuck to the total 4 positions to form a Wheatstone bridge, so that Mz split moment is measured;

or, the lower parts of the third edge rectangular stand column (43) and the fourth edge rectangular stand column (44) are parallel to the side surface of the X axis, and a resistance strain gauge (5) is respectively stuck on the total 4 positions to form a Wheatstone bridge, so that Mz split moment is measured;

Or, the upper parts of the first edge rectangular stand column (41) and the second edge rectangular stand column (42) are parallel to the side face of the Y axis, and a resistance strain gauge (5) is respectively stuck to the total 4 positions to form a Wheatstone bridge, so that Mz split moment is measured;

or, the lower parts of the first edge rectangular stand column (41) and the second edge rectangular stand column (42) are parallel to the side face of the Y axis, and a resistance strain gauge (5) is respectively stuck to the total 4 positions to form a Wheatstone bridge, so that Mz sub-moment is measured;

or, the upper and lower parts of the third edge rectangular stand column (43) and the fourth edge rectangular stand column (44) are parallel to the side surface of the X axis, and a resistance strain gauge (5) is respectively stuck on 8 positions to form a Wheatstone bridge, so that Mz torque is measured;

or, the upper and lower parts of the first edge rectangular stand column (41) and the second edge rectangular stand column (42) are parallel to the side surface of the Y axis, and a resistance strain gauge (5) is respectively stuck on 8 positions to form a Wheatstone bridge, so that Mz torque is measured;

or the upper and lower parts of the third edge rectangular stand column (43) and the fourth edge rectangular stand column (44) are parallel to the side surfaces of the X axis, the upper and lower parts of the first edge rectangular stand column (41) and the second edge rectangular stand column (42) are parallel to the side surfaces of the Y axis, and a total of 16 positions are respectively stuck with a resistance strain gauge (5) to form a Wheatstone bridge, so that Mz partial moment is measured;

Or, the upper and lower parts of the third edge rectangular stand column (43) and the fourth edge rectangular stand column (44) are parallel to the side surfaces of the X axis, the upper and lower parts of the first edge rectangular stand column (41) are parallel to the side surfaces of the Y axis, and a total of 12 positions are respectively stuck with a resistance strain gauge (5) to form a Wheatstone bridge, so that Mz split moment is measured;

or, the upper and lower parts of the third edge rectangular stand column (43) and the fourth edge rectangular stand column (44) are parallel to the side surfaces of the X axis, the upper and lower parts of the second edge rectangular stand column (42) are parallel to the side surfaces of the Y axis, and a total of 12 positions are respectively stuck with a resistance strain gauge (5) to form a Wheatstone bridge, so that Mz split moment is measured;

or, the upper and lower parts of the third edge rectangular stand column (43) are parallel to the side surfaces of the X axis, the upper and lower parts of the first edge rectangular stand column (41) and the second edge rectangular stand column (42) are parallel to the side surfaces of the Y axis, and a total of 12 positions are respectively stuck with a resistance strain gauge (5) to form a Wheatstone bridge, so that Mz component moment is measured;

or, the upper and lower parts of the fourth edge rectangular stand column (44) are parallel to the side surfaces of the X axis, the upper and lower parts of the first edge rectangular stand column (41) and the second edge rectangular stand column (42) are parallel to the side surfaces of the Y axis, and a total of 12 positions are respectively stuck with a resistance strain gauge (5) to form a Wheatstone bridge, so that Mz component moment is measured;

The upper part and the lower part of the central rectangular upright post (3) are parallel to the side face of the Y axis, and a total of 4 positions are respectively stuck with a resistance strain gauge (5) to form a Wheatstone bridge, so that Fx component force is measured;

or the upper part and the lower part of the third edge rectangular stand column (43) and the fourth edge rectangular stand column (44) are parallel to the outer side surface of the Y axis, and a total of 4 positions are respectively stuck with a resistance strain gauge (5) to form a Wheatstone bridge, and Fx component force is measured;

or the upper part and the lower part of the third edge rectangular stand column (43) and the fourth edge rectangular stand column (44) are parallel to the inner side surface of the Y axis, and a total of 4 positions are respectively stuck with a resistance strain gauge (5) to form a Wheatstone bridge, and Fx component force is measured;

or the upper and lower parts of the central rectangular upright post (3) are parallel to the side surfaces of the Y axis, the upper and lower parts of the third edge rectangular upright post (43) and the fourth edge rectangular upright post (44) are parallel to the outer side surfaces of the Y axis, and a total of 8 positions are respectively stuck with a resistance strain gauge (5) to form a Wheatstone bridge, and Fx component force is measured;

or the upper and lower parts of the central rectangular upright post (3) are parallel to the side surfaces of the Y axis, the upper and lower parts of the third edge rectangular upright post (43) and the fourth edge rectangular upright post (44) are parallel to the inner side surfaces of the Y axis, and a total of 8 positions are respectively stuck with a resistance strain gauge (5) to form a Wheatstone bridge, and Fx component force is measured;

Or, the upper and lower parts of the third edge rectangular upright post (43) and the fourth edge rectangular upright post (44) are parallel to the outer side surfaces of the Y axis, the upper and lower parts of the third edge rectangular upright post (43) and the fourth edge rectangular upright post (44) are parallel to the inner side surfaces of the Y axis, and a total of 8 positions are respectively stuck with a resistance strain gauge (5) to form a Wheatstone bridge, and Fx component force is measured;

the upper part and the lower part of the central rectangular upright post (3) are parallel to the side surface of the X axis, and a total of 4 positions are respectively stuck with a resistance strain gauge (5) to form a Wheatstone bridge, and Fy component force is measured;

or, the upper and lower parts of the first edge rectangular stand column (41) and the second edge rectangular stand column (42) are parallel to the outer side surface of the X axis, and a total of 4 positions are respectively stuck with a resistance strain gauge (5) to form a Wheatstone bridge, and Fy component force is measured;

or, the upper and lower parts of the first edge rectangular stand column (41) and the second edge rectangular stand column (42) are parallel to the inner side surface of the X axis, and a total of 4 positions are respectively stuck with a resistance strain gauge (5) to form a Wheatstone bridge, and Fy component force is measured;

or the upper and lower parts of the central rectangular upright post (3) are parallel to the side surfaces of the X axis, the upper and lower parts of the first edge rectangular upright post (41) and the second edge rectangular upright post (42) are parallel to the outer side surfaces of the X axis, and a total of 8 positions are respectively stuck with a resistance strain gauge (5) to form a Wheatstone bridge, and Fy component force is measured;

Or the upper and lower parts of the central rectangular upright post (3) are parallel to the side surfaces of the X axis, the upper and lower parts of the first edge rectangular upright post (41) and the second edge rectangular upright post (42) are parallel to the inner side surfaces of the X axis, and a total of 8 positions are respectively stuck with a resistance strain gauge (5) to form a Wheatstone bridge, and Fy component force is measured;

or, the upper and lower parts of the first edge rectangular upright post (41) and the second edge rectangular upright post (42) are parallel to the outer side surfaces of the X axis, the upper and lower parts of the first edge rectangular upright post (41) and the second edge rectangular upright post (42) are parallel to the inner side surfaces of the X axis, and a total of 8 positions are respectively stuck with a resistance strain gauge (5) to form a Wheatstone bridge, and Fy component force is measured;

or the upper and lower parts of the central rectangular upright post (3) are parallel to the side surfaces of the X axis, the upper and lower parts of the first edge rectangular upright post (41) and the second edge rectangular upright post (42) are parallel to the outer side surfaces of the X axis, the upper and lower parts of the first edge rectangular upright post (41) and the second edge rectangular upright post (42) are parallel to the inner side surfaces of the X axis, and a resistance strain gauge (5) is respectively stuck to 12 positions in total to form a Wheatstone bridge to measure Fy component force;

Four sides of the middle part of the central rectangular upright post (3) are respectively stuck with a resistance strain gauge (5) to form a Wheatstone bridge for measurement, fz component force;

or the four sides of the middle parts of the first edge rectangular stand column (41) and the second edge rectangular stand column (42) are respectively stuck with a resistance strain gauge (5) at 8 positions to form a Wheatstone bridge, and Fz component force is measured;

or, the four sides of the middle parts of the third edge rectangular stand column (43) and the fourth edge rectangular stand column (44) are respectively stuck with a resistance strain gauge (5) at 8 positions to form a Wheatstone bridge, and Fz component force is measured;

or, the four sides of the middle positions of the central rectangular upright post (3), the first edge rectangular upright post (41) and the second edge rectangular upright post (42) are respectively stuck with a resistance strain gauge (5) at 12 positions to form a Wheatstone bridge, and Fz component force is measured;

or the four sides of the middle positions of the central rectangular upright post (3), the third edge rectangular upright post (43) and the fourth edge rectangular upright post (44) are respectively stuck with a resistance strain gauge (5) at 12 positions to form a Wheatstone bridge, and Fz component force is measured;

or the four sides of the middle positions of the first edge rectangular stand column (41), the second edge rectangular stand column (42), the third edge rectangular stand column (43) and the fourth edge rectangular stand column (44) are respectively stuck with a resistance strain gauge (5) at 16 positions to form a Wheatstone bridge, and Fz component force is measured;

Or, the four sides of the middle positions of the central rectangular upright post (3), the first edge rectangular upright post (41), the second edge rectangular upright post (42), the third edge rectangular upright post (43) and the fourth edge rectangular upright post (44) are respectively stuck with a resistance strain gauge (5) at 20 positions to form a Wheatstone bridge, and Fz component force is measured.